CN109945824B - Method and system for measuring and transmitting course reference of carrier - Google Patents

Method and system for measuring and transmitting course reference of carrier Download PDF

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CN109945824B
CN109945824B CN201711396168.9A CN201711396168A CN109945824B CN 109945824 B CN109945824 B CN 109945824B CN 201711396168 A CN201711396168 A CN 201711396168A CN 109945824 B CN109945824 B CN 109945824B
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target
measuring
ccd camera
coordinate system
measuring instrument
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CN109945824A (en
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储海荣
马伍元
葛明达
马青
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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Abstract

The invention relates to a method for measuring and transmitting a carrier course reference. The method for measuring and transmitting the aircraft course reference can measure the aircraft course angle through the external measuring device, optimize the alignment algorithm, simplify the alignment flow, improve the rapid alignment precision, shorten the alignment time and meet the rapid response requirement of a battlefield. The invention also relates to a system for measuring and transmitting the heading reference of the aircraft.

Description

Method and system for measuring and transmitting course reference of carrier
Technical Field
The invention relates to a method for measuring and transmitting a carrier course reference. The invention also relates to a system for measuring and transmitting the carrier course reference.
Background
The fighter needs to complete the initial alignment before going out to perform the mission. The current main alignment mode is completed by adopting the inertial navigation of the airplane, and the alignment precision is mainly influenced by the process of an inertial navigation device and the interference of the surrounding environment. In the prior art, the alignment precision is low, and meanwhile, the azimuth alignment time is long, so that the rapid response requirement of a battlefield is difficult to meet.
Therefore, further improvements are needed in the art.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a method for measuring and transferring a heading reference of an aircraft, which can automatically and quickly align, has high alignment accuracy, and shortens alignment time.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for measuring and transmitting a heading reference of an aircraft comprises the following steps:
providing a measuring instrument, fixing the measuring instrument to measure the ground reference point, and constructing the coordinate system T of the measuring instruments；
Constructing a reference coordinate system T of a machine bodyn；
Arranging a plurality of targets on the machine body;
measuring the target on the stopped body by the measuring instrument, and calculating to obtain the coordinate (x) of the target under the reference coordinate system0，y0，z0)；
By a system of equations:
Figure GDA0003456784370000011
calculating the course angle of the carrier
Figure GDA0003456784370000012
Wherein (x)2，y2，z2) The translation vector between the reference coordinate system of the machine body and the coordinate system of the machine body after moving is obtained;
Figure GDA0003456784370000021
is composed of
Figure GDA0003456784370000022
The sum and difference of trigonometric function products of (a);
and the course angle is transmitted to the airborne inertial navigation in an identifiable manner through computer processing.
Preferably, the measuring instrument comprises a CCD camera, a laser range finder mounted on the CCD camera, and a fixing bracket for supporting the CCD camera.
Preferably, the fixed support consists of an electric two-axis turntable, an encoder and a motor.
Preferably, the coordinates (x) of the target in the reference coordinate system are obtained through calculation0，y0，z0) The method comprises the following steps:
image processing software of the CCD camera automatically identifies the target, feeds back target position information to the fixed support, adjusts the pitch and yaw angles of the motor by rotating the motor to adjust the fixed support, enables the center position of the target pattern to coincide with the target surface of the CCD camera, and records a pitch angle alpha and a yaw angle beta; measuring a distance L from a target pattern to a measurement point by the laser range finder0By conversion ofComprises the following steps:
Figure GDA0003456784370000023
Figure GDA0003456784370000024
calculating the coordinates (x)0，y0，z0)。
Preferably, the target pattern is a cross marked in a circle, and the diameter of the target is 1-10 cm.
Preferably, the target is sprayed on the position with good rigidity and no deformation on the carrier body.
Preferably, the target pattern has no less than 10 pixels on the target surface of the CCD camera.
Preferably, the CCD camera field angle is not less than ± 1 °.
Preferably, the range of the laser range finder is not less than 20m, and the range finding precision is not more than 0.5 mm.
The invention also provides a system for measuring and transmitting the heading reference of the carrier, which comprises:
a target disposed on the carrier body;
the measuring instrument comprises a CCD camera, a laser range finder arranged on the CCD camera and a fixed bracket used for supporting the CCD camera; the laser range finder is used for measuring the distance from the target to a measuring point;
and the computer is in signal connection with the carrier and the measuring instrument.
The invention has the following beneficial effects:
the method for measuring and transmitting the aircraft course reference can measure the aircraft course angle through the external measuring device, optimize the alignment algorithm, simplify the alignment flow, improve the rapid alignment precision, shorten the alignment time and meet the rapid response requirement of a battlefield.
Drawings
FIG. 1 is a schematic diagram of a system for measuring and transmitting a heading reference of an aircraft according to the present invention;
FIG. 2 is a schematic representation of a target;
fig. 3 is a schematic diagram of a coordinate system of the measuring instrument, a reference coordinate system of the machine body, and a coordinate system of the machine body after movement.
Wherein:
1. target 2, laser range finder
3. CCD camera 4, fixed bolster
5. Computer 6, motor
A, B, C, target
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.
A method for measuring and transmitting a heading reference of an aircraft comprises the following steps:
providing a measuring instrument, fixing the measuring instrument to measure the ground reference point, and constructing a coordinate system T of the measuring instruments；
Constructing a reference coordinate system T of a machine bodyn；
Arranging a plurality of targets on the machine body;
measuring the target on the stopped body by the measuring instrument, and calculating to obtain the coordinate (x) of the target under the reference coordinate system0，y0，z0)；
By a system of equations:
Figure GDA0003456784370000031
calculating the course angle of the carrier
Figure GDA0003456784370000032
Wherein (x)2，y2，z2) A translation vector between a reference coordinate system of the machine body and a coordinate system of the machine body after moving is obtained;
Figure GDA0003456784370000033
is composed of
Figure GDA0003456784370000034
The sum and difference of trigonometric function products of (a);
and the course angle is transmitted to the airborne inertial navigation in an identifiable manner through computer processing.
The method for measuring and transmitting the heading reference of the carrier has 4 coordinate systems, namely an inertial navigation coordinate system, a measuring instrument coordinate system, a machine body reference coordinate system and a machine body coordinate system after movement.
Coordinate system T of measuring instrumentsThe origin is located at the intersection point of the pitching azimuth axis of the measuring instrument, the Y axis is the vertical direction, and the X axis is the direction which is in the horizontal plane and has an accurate known angle with the north direction. The XY level is obtained by a level on the gauge, and the X axis is determined by a method of setting two fixed targets on the ground where the aircraft is stopped.
Preferably, the mechanical positioning structure is arranged between the measuring instrument and the mounting base.
The reference coordinate system of the machine body is a coordinate system of the machine body at the time of calibration and is fixedly connected with the machine body, and the reference coordinate system of the machine body is consistent with the inertial navigation coordinate system. The Z-axis is the longitudinal axis of the body and is determined by measuring points on the surface of the body.
The moved body coordinate system is a reference coordinate system after the body is moved. And the rotating angle between the reference coordinate system of the machine body and the moved reference coordinate system reflects the attitude angle difference of the two stop positions.
The conversion matrix between the coordinate system of the measuring instrument and the reference coordinate system of the machine body is as follows:
Figure GDA0003456784370000041
in the formula, Ts→0Representing a rotation matrix between two coordinate systems, wherein 9 matrix elements are all known quantities; (x)1，y1，z1) Is a translation between two coordinate systems, a known quantity.
The transformation matrix between the moved body coordinate system and the reference coordinate system is as follows:
Figure GDA0003456784370000042
in the formula, T0→nRepresenting a rotation matrix between a reference coordinate system of the machine body and a rotated coordinate system of the machine body, wherein three angles are unknown quantities; (x)2，y2，z2) The translation vector is between a reference coordinate system of the machine body and a rotated coordinate system of the machine body, and all three coordinates are unknown quantities.
The coordinate of the target A of the measured point under the reference coordinate system is set as (x) on the fake organism0，y0，z0) The coordinate in the coordinate system of the surveying instrument is (x)s，ys，zs) Then, there are:
Figure DEST_PATH_GDA0001552137320000051
this gives a system of equations with 6 unknowns:
x0＝f(ψ,θ,φ,x2,y2,z2)
y0＝g(ψ,θ,φ,x2,y2,z2)
z0＝h(ψ,θ,φ,x2,y2,z2)
in the formula (I), the compound is shown in the specification,
Figure GDA0003456784370000052
is composed of
Figure GDA0003456784370000053
The sum and difference of the trigonometric function products of (c).
Similarly, other target points (B, C) to be measured can be used to obtain a system of equations. Thus, an equation set regarding the variation of the body attitude angle is obtained. The equation system is in the form of trigonometric function product of unknown numbers, and the aircraft heading angle can be solved by a numerical calculation method.
Preferably, the measuring instrument comprises a CCD camera, a laser range finder mounted on the CCD camera and a fixing bracket for supporting the CCD camera.
The fixed support consists of an electric two-shaft turntable, an encoder and a motor.
Preferably, the coordinates (x) of the target in the reference coordinate system are obtained through calculation0，y0，z0) The method comprises the following steps:
automatically identifying the target by image processing software of the CCD camera, feeding back target position information to the fixed support, adjusting the fixed support by a rotating motor, adjusting the pitching and yawing angles of the motor to enable the central position of the target pattern to coincide with the target surface of the CCD camera, and recording a pitching angle alpha and a yawing angle beta; measuring the distance L from the target pattern to the measuring point by means of a laser distance meter0By converting the relationship:
Figure GDA0003456784370000054
Figure GDA0003456784370000055
calculating the coordinates (x)0，y0，z0)。
In a specific embodiment, the target pattern is a cross drawn in a circle, and the diameter of the target is 1-10 cm.
In one embodiment, the target is sprayed onto the carrier body in a rigid, non-deformable position.
The number of targets may be 3 or more.
In one specific embodiment, the target pattern has no less than 10 pixels on the target surface of the CCD camera.
In a specific embodiment, the CCD camera field angle is not less than ± 1 °.
Preferably, the range of the laser range finder is not less than 20m, and the range finding precision is not more than 0.5 mm.
The invention also provides a system for measuring and transmitting the heading reference of the carrier, which comprises:
the target is arranged on the carrier body;
the measuring instrument comprises a CCD camera, a laser range finder arranged on the CCD camera and a fixed bracket used for supporting the CCD camera; the laser range finder is used for measuring the distance from the target to the measuring point;
and the computer is in signal connection with the carrier and the measuring instrument.
The airborne inertial navigation system based on the autocollimator quickly transfers and aligns to an external measuring device, measures the course angle of the airborne inertial navigation system, and injects the measured course angle into the airborne inertial navigation system through the measuring device, so that the automatic and quick measurement of the course reference of the airborne navigation system can be realized.
The method for measuring and transmitting the heading reference of the carrier is described by the specific embodiment.
As shown in fig. 1 to 3, the system for measuring and transmitting the heading reference of an aircraft comprises: target 1, laser range finder 2, CCD camera 3, fixed bolster 4, computer 5 and motor 6.
Fixing ground reference point measured by measuring instrument, and constructing coordinate system T of measuring instruments(ii) a Constructing a reference coordinate system T of a machine bodyn(ii) a And measuring the target pattern of the parked airplane.
An image of aircraft target a is shown in fig. 2. The process of measuring the target pattern is to adjust the fixed support through a rotating motor (not shown), adjust the pitching and yawing angles of the motor through image processing software, make the center position of the target image coincide with the CCD target surface, and record a pitching angle alpha and a yawing angle beta; measuring the distance L from the target pattern to the measuring point by means of a laser distance meter0By converting the relationship:
Figure GDA0003456784370000061
Figure GDA0003456784370000062
calculating the coordinates (x)0，y0，z0). The above procedure is repeated to measure targets B, C, etc.
B is x0A，y0A，z0A；x0B，y0B，z0BThe six unknowns in the equation can be solved by being brought into the following equation, the attitude angle of the airplane body is calculated, and the heading angle of the airplane is solved.
x0＝f(ψ,θ,φ,x2,y2,z2)
y0＝g(ψ,θ,φ,x2,y2,z2)
z0＝h(ψ,θ,φ,x2,y2,z2)
And the data is transmitted to the airplane inertial navigation system after being processed by a computer.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.

Claims (7)

1. A method for measuring and transmitting a heading reference of an aircraft is characterized by comprising the following steps:
providing a measuring instrument, fixing the measuring instrument to measure the ground reference point, and constructing the coordinate system T of the measuring instruments；
Constructing a reference coordinate system T of a machine bodyn；
Arranging a plurality of targets on the machine body;
measuring the target on the stopped body by the measuring instrument, and calculating to obtain the coordinate (x) of the target under the reference coordinate system0，y0，z0)；
By a system of equations:
Figure FDA0003492772170000011
calculating the heading angles (psi, theta and phi) of the carrier;
wherein (x)2，y2，z2) The translation vector between the reference coordinate system of the machine body and the coordinate system of the machine body after moving is obtained; f (psi, theta, phi), g (psi, theta, phi) and h (psi, theta, phi) are the sum and difference of trigonometric function products of (psi, theta, phi);
the course angle is transmitted to the airborne inertial navigation in an identifiable manner through computer processing;
the measuring instrument comprises a CCD camera, a laser range finder arranged on the CCD camera and a fixed bracket used for supporting the CCD camera; the fixed support consists of an electric two-axis turntable, an encoder and a motor;
calculating to obtain the coordinates (x) of the target under the reference coordinate system0，y0，z0) The method comprises the following steps:
image processing software of the CCD camera automatically identifies the target, feeds back target position information to the fixed support, adjusts the pitch and yaw angles of the motor by rotating the motor to adjust the fixed support, enables the center position of the target pattern to coincide with the target surface of the CCD camera, and records a pitch angle alpha and a yaw angle beta; measuring a distance L from a target pattern to a measurement point by the laser range finder0By converting the relationship:
Figure FDA0003492772170000012
Figure FDA0003492772170000013
calculating the coordinates (x)0，y0，z0)。
2. The method of claim 1, wherein the method further comprises: the target pattern is characterized in that a cross is marked in a circle, and the diameter of the target is 1-10 cm.
3. The method of claim 1, wherein the method further comprises: the target is sprayed on the position with good rigidity and no deformation on the carrier body.
4. The method of claim 1, wherein the method further comprises: the pixels of the target pattern on the target surface of the CCD camera are not less than 10 pixels.
5. The method of claim 4, wherein the method further comprises: the field angle of the CCD camera is not less than +/-1 degree.
6. The method of claim 1, wherein the method further comprises: the range finding range of the laser range finder is not less than 20m, and the range finding precision is not more than 0.5 mm.
7. An aircraft heading reference measurement and transfer system employing the method of any of claims 1-6, the system comprising:
a target disposed on the carrier body;
the measuring instrument comprises a CCD camera, a laser range finder arranged on the CCD camera and a fixed bracket used for supporting the CCD camera; the laser range finder is used for measuring the distance from the target to a measuring point;
and the computer is in signal connection with the carrier and the measuring instrument.
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